#include <stdio.h>
#include <iostream>
#include "ros/ros.h"
#include "std_msgs/Float32.h"

//#include <roboard.h>  // include this to use the RoBoIO library

int main(int argc, char **argv) {
	
//    roboio_SetRBVer(RB_110);
    
	
    ros::init(argc,argv, "driver");
    ros::NodeHandle n;
    ros::Publisher param_pub = n.advertise<std_msgs::Float32>("param",5);
    ros::Rate loop_rate(1);    

    double rps_ref = 30;
    std_msgs::Float32 rps_ref_msg;

    while (ros::ok())
    {
	ROS_INFO("Enter new reference RPS:\n");
	std::cin >> rps_ref;
	rps_ref_msg.data = rps_ref;
	param_pub.publish(rps_ref_msg);

    }

}
